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tmc2130: Verify SPI register writes

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The tmc2130 (and tmc5160) will respond back with the value written
during the next SPI command.  Use this feature to verify that the
value written matches the value sent.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-10 13:55:14 -05:00
parent 3ea2e4fc58
commit 7dd2bf4af3
4 changed files with 41 additions and 11 deletions
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9
klippy/serialhdl.py
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@ -199,7 +199,7 @@ class SerialReader:
def send_with_response(self, msg, response):
cmd = self.msgparser.create_command(msg)
src = SerialRetryCommand(self, response)
return src.get_response(cmd, self.default_cmd_queue)
return src.get_response([cmd], self.default_cmd_queue)
def alloc_command_queue(self):
return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
self.ffi_lib.serialqueue_free_commandqueue)
@ -249,11 +249,14 @@ class SerialRetryCommand:
self.serial.register_response(self.handle_callback, name, oid)
def handle_callback(self, params):
self.last_params = params
def get_response(self, cmd, cmd_queue, minclock=0, reqclock=0):
def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
retries = 5
retry_delay = .010
while 1:
self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
for cmd in cmds[:-1]:
self.serial.raw_send(cmd, minclock, reqclock, cmd_queue)
self.serial.raw_send_wait_ack(cmds[-1], minclock, reqclock,
cmd_queue)
params = self.last_params
if params is not None:
self.serial.register_response(None, self.name, self.oid)